2025-12-05 23:08:46 +08:00
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#pragma once
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2025-12-06 00:11:43 +08:00
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#include "SG_algo_Export.h"
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2025-12-05 23:08:46 +08:00
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#include <vector>
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#include <opencv2/opencv.hpp>
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typedef struct
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{
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cv::Size patternSize; //3x3 mark
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float checkerSize; //60mm
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float markerSize; //45mm
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int dictType; //1: DICT_6x6
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}SWD_BQ_CharucoMarkInfo;
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typedef struct
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{
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int totalBoardNum; //mark<72><6B><EFBFBD><EFBFBD>
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int boardIdInterval; //ÿ<><C3BF>Mark<72><6B>charuco<63><6F><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>0<EFBFBD><30>ʼ<EFBFBD><CABC><EFBFBD>ڶ<EFBFBD><DAB6><EFBFBD><EFBFBD><EFBFBD>8<EFBFBD><38>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ8
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int boardChaucoIDNum; //ÿ<><C3BF>Mark<72><6B>charuco<63><6F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>3x3<78><33>charuco, <20><>ά<EFBFBD><CEAC><EFBFBD>ĸ<EFBFBD><C4B8><EFBFBD>Ϊ4
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}SWD_BQ_MarkBoardInfo;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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2025-12-06 00:11:43 +08:00
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SG_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
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2025-12-05 23:08:46 +08:00
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//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Mark3D<33><44>Ϣ
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SG_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
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2025-12-05 23:08:46 +08:00
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cv::Mat& leftImage,
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cv::Mat& rightImage,
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cv::Mat& cameraMatrixL,
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cv::Mat& distCoeffsL,
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cv::Mat& cameraMatrixR,
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cv::Mat& distCoeffsR,
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cv::Mat& R1,
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cv::Mat& R2,
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cv::Mat& P1,
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cv::Mat& P2,
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cv::Mat& Q,
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SWD_BQ_CharucoMarkInfo markInfo,
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SWD_BQ_MarkBoardInfo boardInfo,
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double disparityOffset,
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std::vector<SWD_charuco3DMark>& marks);
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